Data Sources

Hawkeye consumes telemetry from two sources: live MAVLink streams (from PX4 SITL) and ULog file replay.

MAVLink messages (live mode)

Message	Purpose
HEARTBEAT	Vehicle type, arming state, autopilot mode
HIL_STATE_QUATERNION	Position, attitude, velocity, airspeed
STATUSTEXT	Warning and log messages (severity 0–7)
HOME_POSITION	Authoritative home location
GLOBAL_POSITION_INT	GPS latitude, longitude, altitude (fallback reference)

ULog topics (replay mode)

Topic	Required	Purpose
vehicle_attitude	yes	Orientation quaternion
vehicle_local_position	yes	NED position and velocity
vehicle_global_position	no	GPS position (enables real-world coordinates)
vehicle_status	no	Vehicle type, arming, flight mode transitions
home_position	no	Authoritative home (Tier 1 source)
airspeed_validated	no	Airspeed sensor data
logging	no	STATUSTEXT warnings (feeds the HUD ticker)

If a required topic is missing, Hawkeye refuses to load the log and prints an error. If optional topics are missing, the affected features silently degrade (no airspeed, no STATUSTEXT, etc.).

Related

• Position Data Tiers — How Hawkeye classifies logs based on which position sources are present
• Live SITL — Connecting PX4 SITL to Hawkeye via MAVLink
• ULog Replay — Loading .ulg files for playback